Title :
Differential flatness based full authority helicopter control design
Author :
Koo, John T. ; Sastry, Shankar
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
Abstract :
A full authority helicopter control design based on differential flatness is presented. The concept of outer flatness is deployed for the design. The position dynamics and attitude dynamics are treated as the outer and inner systems respectively. The proposed design is based on an approximate model which is differentially flat, and then modified for the exact model. Given a desired trajectory in trim flight condition, the proposed control scheme is proved to result in global exponentially stability and convergence in the trajectory error
Keywords :
aircraft control; asymptotic stability; attitude control; control system synthesis; convergence; dynamics; helicopters; position control; attitude dynamics; differential flatness; full authority helicopter control design; global exponentially stability; outer flatness; position dynamics; trajectory error; trim flight condition; Control design; Convergence; Error correction; Helicopters; Intelligent robots; Performance analysis; Pneumatic actuators; Rotors; Stability; Trajectory;
Conference_Titel :
Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
Conference_Location :
Phoenix, AZ
Print_ISBN :
0-7803-5250-5
DOI :
10.1109/CDC.1999.830928
